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JPS54138271A - Centering pawl apparatus - Google Patents

Centering pawl apparatus

Info

Publication number
JPS54138271A
JPS54138271A JP4538778A JP4538778A JPS54138271A JP S54138271 A JPS54138271 A JP S54138271A JP 4538778 A JP4538778 A JP 4538778A JP 4538778 A JP4538778 A JP 4538778A JP S54138271 A JPS54138271 A JP S54138271A
Authority
JP
Japan
Prior art keywords
pawls
centering
subsidiary
motor
shaped recess
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4538778A
Other languages
Japanese (ja)
Inventor
Katsuo Ito
Teizo Fujii
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP4538778A priority Critical patent/JPS54138271A/en
Publication of JPS54138271A publication Critical patent/JPS54138271A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To provide a centering pawl apparatus, which employs centering pawls formed respectively with a V-shaped recess, wherein each of said centering pawls is further formed with a subsidiary pawl, whereby it is enabled to grasp a round rod in a wide range of diameter. CONSTITUTION:Motor 2 is provided at one side of frame 1. Output shaft of this motor 2 is supported by bearing via coupling 3 and connected to left-handed screw shaft 5 and right-handed screw shaft 6 formed integrally with each other. Left- hand threaded nut 7 and right-hand threaded nut 8 are fitted respectively on these screw shafts 5 and 6, and pawls 9, 9A with a V-shaped recess are carried at one end of each nut 7, 8. Further, subsidiary pawls 19, 10A and cylinders 11, 11A are provided at the central portion of said pawls 9, 9A, respectively.
JP4538778A 1978-04-19 1978-04-19 Centering pawl apparatus Pending JPS54138271A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4538778A JPS54138271A (en) 1978-04-19 1978-04-19 Centering pawl apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4538778A JPS54138271A (en) 1978-04-19 1978-04-19 Centering pawl apparatus

Publications (1)

Publication Number Publication Date
JPS54138271A true JPS54138271A (en) 1979-10-26

Family

ID=12717849

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4538778A Pending JPS54138271A (en) 1978-04-19 1978-04-19 Centering pawl apparatus

Country Status (1)

Country Link
JP (1) JPS54138271A (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4579380A (en) * 1983-12-06 1986-04-01 Carnegie-Mellon University Servo robot gripper
JPS6168892U (en) * 1984-10-09 1986-05-12
US4591198A (en) * 1984-02-16 1986-05-27 Monforte Robotics, Inc. Robotic end effectors
DE3513893A1 (en) * 1985-04-17 1986-10-30 Siemens AG, 1000 Berlin und 8000 München Gripper for workpieces
US4699414A (en) * 1986-04-21 1987-10-13 The United States Of America As Represented By The Secretary Of The Air Force Multi use gripper for industrial robot
US4765668A (en) * 1986-02-13 1988-08-23 The United States Of America As Represented By The Secretary Of Commerce Robot end effector
US4768821A (en) * 1987-01-28 1988-09-06 Auto/Con Corporation Gripper apparatus
US5222778A (en) * 1990-11-28 1993-06-29 Hofmann Maschinenbau Gmbh Workpiece gripping apparatus
US5538305A (en) * 1991-11-27 1996-07-23 Microscience Group, Inc. Microgripper
JP2012176461A (en) * 2011-02-25 2012-09-13 Yaskawa Electric Corp Hand and robot
CN103419210A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Electric cylinder hand grab used for grabbing battery pack
CN104626178A (en) * 2014-12-19 2015-05-20 邓军 Mechanical arm for grabbing bottle
WO2017141786A1 (en) * 2016-02-16 2017-08-24 株式会社オートネットワーク技術研究所 Processing robot device
CN108972513A (en) * 2018-09-05 2018-12-11 浙江树人学院 A kind of robot that rotation is carried
US10286549B2 (en) * 2015-12-16 2019-05-14 Comau Llc Adaptable end effector and method
CN112388365A (en) * 2020-11-05 2021-02-23 王鸽华 Machining is with little cutter of installation error machine people that changes outfit

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4579380A (en) * 1983-12-06 1986-04-01 Carnegie-Mellon University Servo robot gripper
US4591198A (en) * 1984-02-16 1986-05-27 Monforte Robotics, Inc. Robotic end effectors
JPS6168892U (en) * 1984-10-09 1986-05-12
JPH0243678Y2 (en) * 1984-10-09 1990-11-20
DE3513893A1 (en) * 1985-04-17 1986-10-30 Siemens AG, 1000 Berlin und 8000 München Gripper for workpieces
US4765668A (en) * 1986-02-13 1988-08-23 The United States Of America As Represented By The Secretary Of Commerce Robot end effector
US4699414A (en) * 1986-04-21 1987-10-13 The United States Of America As Represented By The Secretary Of The Air Force Multi use gripper for industrial robot
US4768821A (en) * 1987-01-28 1988-09-06 Auto/Con Corporation Gripper apparatus
US5222778A (en) * 1990-11-28 1993-06-29 Hofmann Maschinenbau Gmbh Workpiece gripping apparatus
US5538305A (en) * 1991-11-27 1996-07-23 Microscience Group, Inc. Microgripper
JP2012176461A (en) * 2011-02-25 2012-09-13 Yaskawa Electric Corp Hand and robot
CN103419210A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Electric cylinder hand grab used for grabbing battery pack
CN104626178A (en) * 2014-12-19 2015-05-20 邓军 Mechanical arm for grabbing bottle
US10286549B2 (en) * 2015-12-16 2019-05-14 Comau Llc Adaptable end effector and method
WO2017141786A1 (en) * 2016-02-16 2017-08-24 株式会社オートネットワーク技術研究所 Processing robot device
CN108972513A (en) * 2018-09-05 2018-12-11 浙江树人学院 A kind of robot that rotation is carried
CN112388365A (en) * 2020-11-05 2021-02-23 王鸽华 Machining is with little cutter of installation error machine people that changes outfit

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